diff options
Diffstat (limited to 'tests/core')
| -rw-r--r-- | tests/core/math/test_quaternion.h | 30 |
1 files changed, 15 insertions, 15 deletions
diff --git a/tests/core/math/test_quaternion.h b/tests/core/math/test_quaternion.h index eb5fea1d2d..909fc2499f 100644 --- a/tests/core/math/test_quaternion.h +++ b/tests/core/math/test_quaternion.h @@ -47,9 +47,9 @@ Quaternion quat_euler_yxz_deg(Vector3 angle) { // Generate YXZ (Z-then-X-then-Y) Quaternion using single-axis Euler // constructor and quaternion product, both tested separately. - Quaternion q_y(Vector3(0.0, yaw, 0.0)); - Quaternion q_p(Vector3(pitch, 0.0, 0.0)); - Quaternion q_r(Vector3(0.0, 0.0, roll)); + Quaternion q_y = Quaternion::from_euler(Vector3(0.0, yaw, 0.0)); + Quaternion q_p = Quaternion::from_euler(Vector3(pitch, 0.0, 0.0)); + Quaternion q_r = Quaternion::from_euler(Vector3(0.0, 0.0, roll)); // Roll-Z is followed by Pitch-X, then Yaw-Y. Quaternion q_yxz = q_y * q_p * q_r; @@ -134,21 +134,21 @@ TEST_CASE("[Quaternion] Construct Euler SingleAxis") { double roll = Math::deg_to_rad(10.0); Vector3 euler_y(0.0, yaw, 0.0); - Quaternion q_y(euler_y); + Quaternion q_y = Quaternion::from_euler(euler_y); CHECK(q_y[0] == doctest::Approx(0.0)); CHECK(q_y[1] == doctest::Approx(0.382684)); CHECK(q_y[2] == doctest::Approx(0.0)); CHECK(q_y[3] == doctest::Approx(0.923879)); Vector3 euler_p(pitch, 0.0, 0.0); - Quaternion q_p(euler_p); + Quaternion q_p = Quaternion::from_euler(euler_p); CHECK(q_p[0] == doctest::Approx(0.258819)); CHECK(q_p[1] == doctest::Approx(0.0)); CHECK(q_p[2] == doctest::Approx(0.0)); CHECK(q_p[3] == doctest::Approx(0.965926)); Vector3 euler_r(0.0, 0.0, roll); - Quaternion q_r(euler_r); + Quaternion q_r = Quaternion::from_euler(euler_r); CHECK(q_r[0] == doctest::Approx(0.0)); CHECK(q_r[1] == doctest::Approx(0.0)); CHECK(q_r[2] == doctest::Approx(0.0871558)); @@ -163,11 +163,11 @@ TEST_CASE("[Quaternion] Construct Euler YXZ dynamic axes") { // Generate YXZ comparison data (Z-then-X-then-Y) using single-axis Euler // constructor and quaternion product, both tested separately. Vector3 euler_y(0.0, yaw, 0.0); - Quaternion q_y(euler_y); + Quaternion q_y = Quaternion::from_euler(euler_y); Vector3 euler_p(pitch, 0.0, 0.0); - Quaternion q_p(euler_p); + Quaternion q_p = Quaternion::from_euler(euler_p); Vector3 euler_r(0.0, 0.0, roll); - Quaternion q_r(euler_r); + Quaternion q_r = Quaternion::from_euler(euler_r); // Roll-Z is followed by Pitch-X. Quaternion check_xz = q_p * q_r; @@ -176,7 +176,7 @@ TEST_CASE("[Quaternion] Construct Euler YXZ dynamic axes") { // Test construction from YXZ Euler angles. Vector3 euler_yxz(pitch, yaw, roll); - Quaternion q(euler_yxz); + Quaternion q = Quaternion::from_euler(euler_yxz); CHECK(q[0] == doctest::Approx(check_yxz[0])); CHECK(q[1] == doctest::Approx(check_yxz[1])); CHECK(q[2] == doctest::Approx(check_yxz[2])); @@ -191,7 +191,7 @@ TEST_CASE("[Quaternion] Construct Basis Euler") { double pitch = Math::deg_to_rad(30.0); double roll = Math::deg_to_rad(10.0); Vector3 euler_yxz(pitch, yaw, roll); - Quaternion q_yxz(euler_yxz); + Quaternion q_yxz = Quaternion::from_euler(euler_yxz); Basis basis_axes = Basis::from_euler(euler_yxz); Quaternion q(basis_axes); CHECK(q.is_equal_approx(q_yxz)); @@ -209,7 +209,7 @@ TEST_CASE("[Quaternion] Construct Basis Axes") { // Quaternion from local calculation. Quaternion q_local = quat_euler_yxz_deg(Vector3(31.41, -49.16, 12.34)); // Quaternion from Euler angles constructor. - Quaternion q_euler(euler_yxz); + Quaternion q_euler = Quaternion::from_euler(euler_yxz); CHECK(q_calc.is_equal_approx(q_local)); CHECK(q_local.is_equal_approx(q_euler)); @@ -253,21 +253,21 @@ TEST_CASE("[Quaternion] Product") { double roll = Math::deg_to_rad(10.0); Vector3 euler_y(0.0, yaw, 0.0); - Quaternion q_y(euler_y); + Quaternion q_y = Quaternion::from_euler(euler_y); CHECK(q_y[0] == doctest::Approx(0.0)); CHECK(q_y[1] == doctest::Approx(0.382684)); CHECK(q_y[2] == doctest::Approx(0.0)); CHECK(q_y[3] == doctest::Approx(0.923879)); Vector3 euler_p(pitch, 0.0, 0.0); - Quaternion q_p(euler_p); + Quaternion q_p = Quaternion::from_euler(euler_p); CHECK(q_p[0] == doctest::Approx(0.258819)); CHECK(q_p[1] == doctest::Approx(0.0)); CHECK(q_p[2] == doctest::Approx(0.0)); CHECK(q_p[3] == doctest::Approx(0.965926)); Vector3 euler_r(0.0, 0.0, roll); - Quaternion q_r(euler_r); + Quaternion q_r = Quaternion::from_euler(euler_r); CHECK(q_r[0] == doctest::Approx(0.0)); CHECK(q_r[1] == doctest::Approx(0.0)); CHECK(q_r[2] == doctest::Approx(0.0871558)); |